moveit_studio::behaviors::AttachURDF Class Reference

This Behavior sends a request to attach a URDF object to a robot for motion planning purposes. More...

#include <attach_urdf.hpp>

Inheritance diagram for moveit_studio::behaviors::AttachURDF:

Collaboration diagram for moveit_studio::behaviors::AttachURDF:

Public Types
using	AttachURDFSrv = moveit_studio_agent_msgs::srv::AttachURDF

Public Member Functions
	AttachURDF (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	AttachURDF (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources, std::unique_ptr< ClientInterfaceBase< AttachURDFSrv > > client_interface)
Public Member Functions inherited from moveit_studio::behaviors::ServiceClientBehaviorBase< moveit_studio_agent_msgs::srv::AttachURDF >
	ServiceClientBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Constructs ServiceClientBehaviorBase using the RclcppClientInterface.
	ServiceClientBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources, std::unique_ptr< ClientInterfaceBase< moveit_studio_agent_msgs::srv::AttachURDF > > client_interface)
	Constructs ServiceClientBehaviorBase using a user-provided implementation of ClientInterfaceBase.
virtual	~ServiceClientBehaviorBase ()=default
Public Member Functions inherited from moveit_studio::behaviors::AsyncBehaviorBase
	AsyncBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
virtual	~AsyncBehaviorBase ()=default
BT::NodeStatus	onStart () override
	Required implementation of BT::StatefulActionNode::onStart().
BT::NodeStatus	onRunning () override
	Required implementation of BT::StatefulActionNode::onRunning().
void	onHalted () override
	Required implementation of BT::StatefulActionNode::onHalted().
void	resetStatus ()
	Resets the internal status of this node.
Public Member Functions inherited from moveit_studio::behaviors::SharedResourcesNode< BT::StatefulActionNode >
	SharedResourcesNode (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Constructor for SharedResourcesNode. Called by BT::BehaviorTreeFactory when creating a new behavior tree containing this node.

Static Public Member Functions
static BT::PortsList	providedPorts ()
static BT::KeyValueVector	metadata ()

Static Public Attributes
static constexpr auto	kDefaultUrdfNamePort = "urdf_name"
static constexpr auto	kDefaultParentLinkNamePort = "parent_link_name"
static constexpr auto	kDefaultAllowedCollisionLinksPort = "allowed_collision_links"
Static Public Attributes inherited from moveit_studio::behaviors::ServiceClientBehaviorBase< moveit_studio_agent_msgs::srv::AttachURDF >
static constexpr std::chrono::seconds	kTimeoutWaitForServiceServer

Protected Member Functions
virtual std::string	getUrdfNamePort () const
virtual std::string	getParentLinkNamePort () const
virtual std::string	getAllowedCollisionLinksPort () const
Protected Member Functions inherited from moveit_studio::behaviors::ServiceClientBehaviorBase< moveit_studio_agent_msgs::srv::AttachURDF >
virtual tl::expected< std::chrono::duration< double >, std::string >	getWaitForServerAvailableTimeout ()
	Optional user-provided function to set the timeout used when waiting for the service server to be available.
virtual tl::expected< bool, std::string >	processResponse (const typename ServiceT::Response &)
	Optional user-provided function to process the service response after the service has finished.
tl::expected< void, std::string >	doHalt () override
	Handles halting logic which is specific to the service client behavior implementation.
Protected Member Functions inherited from moveit_studio::behaviors::AsyncBehaviorBase
void	notifyCanHalt ()
	Called when runAsync() finishes to notify onHalted() that the async process has finished.

Additional Inherited Members
Protected Attributes inherited from moveit_studio::behaviors::SharedResourcesNode< BT::StatefulActionNode >
std::shared_ptr< BehaviorContext >	shared_resources_

Detailed Description

This Behavior sends a request to attach a URDF object to a robot for motion planning purposes.

The URDF object must first be added to the planning scene before it can be attached. It is attached to the robot at the specified link at the relative pose between the link and the URDF object collision object. Once attached, the URDF object will move with the link it is attached to. If the URDF object contains joints and those are reported in the /joint_states topic, the URDF object collision shapes will update their state accordingly. If the URDF object is allowed to collide with some other links (e.g. the link it is attached to), these links can be specified in the allowed_collision_links port.

See also DetachURDF for detaching a URDF object.

Data Port Name	Port Type	Object Type
urdf_name	input	std::string
parent_link_name	input	std::string
allowed_collision_links	input	std::vector<std::string>

Member Typedef Documentation

AttachURDFSrv

using moveit_studio::behaviors::AttachURDF::AttachURDFSrv = moveit_studio_agent_msgs::srv::AttachURDF

Constructor & Destructor Documentation

AttachURDF() [1/2]

moveit_studio::behaviors::AttachURDF::AttachURDF ( const std::string &  name, const BT::NodeConfiguration &  config, const std::shared_ptr< BehaviorContext > &  shared_resources  )

explicit

AttachURDF() [2/2]

moveit_studio::behaviors::AttachURDF::AttachURDF ( const std::string &  name, const BT::NodeConfiguration &  config, const std::shared_ptr< BehaviorContext > &  shared_resources, std::unique_ptr< ClientInterfaceBase< AttachURDFSrv > >  client_interface  )

explicit

Member Function Documentation

getAllowedCollisionLinksPort()

virtual std::string moveit_studio::behaviors::AttachURDF::getAllowedCollisionLinksPort ( ) const

inlineprotectedvirtual

Reimplemented in moveit_studio::behaviors::AttachTool.

getParentLinkNamePort()

virtual std::string moveit_studio::behaviors::AttachURDF::getParentLinkNamePort ( ) const

inlineprotectedvirtual

Reimplemented in moveit_studio::behaviors::AttachTool.

getUrdfNamePort()

virtual std::string moveit_studio::behaviors::AttachURDF::getUrdfNamePort ( ) const

inlineprotectedvirtual

Reimplemented in moveit_studio::behaviors::AttachTool.

metadata()

BT::KeyValueVector moveit_studio::behaviors::AttachURDF::metadata ( )

static

providedPorts()

BT::PortsList moveit_studio::behaviors::AttachURDF::providedPorts ( )

static

Member Data Documentation

kDefaultAllowedCollisionLinksPort

constexpr auto moveit_studio::behaviors::AttachURDF::kDefaultAllowedCollisionLinksPort = "allowed_collision_links"

staticconstexpr

kDefaultParentLinkNamePort

constexpr auto moveit_studio::behaviors::AttachURDF::kDefaultParentLinkNamePort = "parent_link_name"

staticconstexpr

kDefaultUrdfNamePort

constexpr auto moveit_studio::behaviors::AttachURDF::kDefaultUrdfNamePort = "urdf_name"

staticconstexpr

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The documentation for this class was generated from the following files:

• attach_urdf.hpp
• attach_urdf.cpp